JPH0768324A - Hemming device - Google Patents

Abstract

PURPOSE:To provide a hemming device with which the cost of equipment is reduced and the manufacturing term is shortened, which is excellent in universal applicability and without the deterioration of machining accuracy and variation in bent shape. CONSTITUTION:The hemming device 20 is composed of a robot 22 with whose work clamp 30 a work 8 is held and a roller unit 24 with whose receiving roll 38 and rolling roller 40 hemming work is executed. The receiving roller 38 is movable right and left with a position changing cylinder 44. The rolling roller 40 has a 1st pressurizing part 40a for prehemming and 2nd pressurizing part 40b for regular hemming and is ascendable and descendable with a pressurizing cylinder 52. The receiving roller 38 is faced to the 1st pressurizing part 40a and prehemming is executed by holding the peripheral part of the work between them. The receiving roller 38 is faced to the 2nd pressurizing part with the position changing cylinder 44 and regular hemming is executed by holding the peripheral part of the work between them.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an apparatus for moving a work held by the tip of a robot arm and hemming the peripheral edge of the work with a rolling roller and a receiving roller.

[0002]

2. Description of the Related Art In a hemming process in which a pair of plate-like workpieces are overlapped with each other and the peripheral edges of the workpieces are bent to integrate the pair of workpieces, it is usually necessary to perform a hemming process as shown in FIG.
Two types of hemming presses 2 and 4 are used. One press machine 2 is for pre-hem and the other press machine 4 is for main hem. The hemming process is started by setting the work 8 on the lower die 6 of the prehem pressing machine 2. This work 8
Is a first plate-shaped work 8a in which a bent portion having a substantially right angle is formed in advance along the peripheral edge portion, and a second plate-shaped work 8 that is superposed on the first plate-shaped work 8a inside the bent portion 10.
b. After setting the work 8, the upper die 12 having the inclined pressing surface is lowered, and the bent portion of the first plate-shaped work 8a is bent inward at about 45 ° (prehem processing).

Next, the work 8 is taken out from the pre-hem press machine 2 and set again on the lower mold 14 of the main hem press machine 4, and the upper mold 16 having a pressing surface substantially parallel to the pressure receiving surface of the lower mold 14 is set. Then, the pre-hem-processed slanted bent portion 18 is completely folded in two and overlapped with the peripheral edge of the second plate-shaped work 8b (main hemming).

As another hemming apparatus, a roller type hemming apparatus of Japanese Patent Publication No. 5-34101 is known. In this device, a hem roller for pressing a bending portion of a work is attached to a robot hand in which a predetermined movement locus is stored in advance, and the hem roller can be rolled by following the peripheral shape of the bending portion. It is configured.

[0005]

Although the processing method using the hemming press machine shown in FIG. 5 is suitable for mass production,
Equipment cost is high, equipment manufacturing period is long,
There are problems such as lack of versatility.

Further, in the roller type hemming device, since the roller is pressed against the bending portion of the work piece to bend, a large load is applied to the joint portion of the robot manipulator, and the sliding portion and the bearing portion of the joint portion are rattled, resulting in processing accuracy. Is likely to decrease and the bent shape is likely to change.

An object of the present invention is to provide a hemming processing device which solves these problems.

[0008]

According to the hemming apparatus of the present invention, there is provided a first plate-shaped work having a bent portion formed at right angles along a peripheral edge portion, and the first plate-shaped work inside the bent portion. A robot that holds the second plate-shaped work superimposed on the work at the tip of the robot arm, a receiving roller that supports the outer peripheral surface of the first plate-shaped work, and a bend of the first sheet-metal work. A first pressurizing part for rolling the part to form an inclined bent part inclined inward, and a second pressurizing part for rolling the inclined bent part to superimpose it on the peripheral edge of the second plate-like work. And a pressure driving unit that relatively moves the receiving roller and the pressure roller toward and away from each other, and the first pressure unit or the second pressure unit selectively. The receiving roller or the pressure roller is moved so that the receiving roller faces directly. And a 置変 example drive means.

The pressure roller may be composed of a first roller having a first pressure portion and a second roller having a second pressure portion separately.

As for the receiving roller, the first pressure roller facing the first pressure portion of the first pressure roller and the second pressure roller facing the second pressure portion of the second pressure roller. The rollers can also be configured separately. In this case, since the first and second receiving rollers always face the first and second pressurizing portions, the position changing drive means can be omitted.

It is also possible to forcibly rotate either or both of the pressure roller and the receiving roller by the rotation driving means.

[0012]

With the position changing drive means, the receiving roller is directly opposed to the first pressing portion of the pressure roller, and the peripheral edge of the work is sandwiched between the rollers. The pre-hem processing is performed by pressing the bent portion of the peripheral portion and controlling the robot in this state to continuously feed the bent portion of the work between both rollers. Next, the receiving roller is moved by the position changing driving means so as to face the second pressing portion of the rolling roller, the peripheral edge of the pre-hemmed work is sandwiched between both rollers, and the second portion is driven by the pressing driving means. The pressurizing portion is pressed against the peripheral portion of the work, and in this state, the robot is controlled in the same manner as described above to perform the main hemming.

When the pressure roller and the receiving roller are each composed of two for the prehem and one for the main hem, the position changing drive means is not necessary and the main hem processing can be started at the same time as the prehem processing is completed.

Further, if the pressure roller and the receiving roller are forcibly rotated, the load on the robot arm required to move the hemming portion of the work is reduced, and the hemming precision is improved.

[0015]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to the drawings. As shown in FIG. 1, the hemming processing apparatus 20 of the present invention includes a robot 22 that holds the workpiece 8 and a roller unit 24 that performs hemming processing. The robot 22 includes a robot arm 26 capable of turning and expanding and contracting,
A swingable wrist portion 28 is attached to the tip of the robot arm 26.
And a work clamp 30 connected to each other. The work clamp 30 is composed of a pair of upper and lower clamp arms 32, 32 that can be opened and closed, and a chuck member 34 that can be swung by a swivel mechanism (not shown) at the tip of the clamp arm 32. The work 8 is held between the chuck members 34. The work 8 includes a first plate-shaped work 8a having a bent portion 10 formed at a right angle along a peripheral edge and a second plate-shaped work 8a that is superposed on the first plate-shaped work 8a inside the bent portion 10. 8b.

The roller unit 24 is fixedly arranged on the side of the robot 22. The unit 24 includes a support base 36 having an upper jaw portion 36a and a lower jaw portion 36b extending horizontally on the upper and lower sides of the peripheral edge portion of the work 8 and both jaw portions 36a, 3b.
6b has a receiving roller 38 and a pressure roller 40 that are both rotatable and arranged so that their axes are parallel to each other. The receiving roller 38 is shown in FIG. 2 (A) (B) to FIG. 3 (A).
As shown in (B), it is rotatably supported between a pair of left and right bearings 42 slidably arranged in the left-right direction on the inner surface of the lower jaw portion 36b. The pair of bearings 42 is connected to a piston rod 46 of a position changing cylinder 44 as a position changing drive means.

The pressure roller 40 is rotatably supported between a pair of left and right bearings 48 below the upper jaw 36a.
These bearings 48 are fixed to an elevating plate 50, and the elevating plate 50 extends downward from a pressurizing cylinder 52 serving as a pressurizing drive means arranged on the upper surface of the upper jaw 36a.
Are linked to. On the outer peripheral surface of the compaction roller 40, the first
The pressure member 40a and the second pressure member 40b are formed. The first pressing portion 40a is for prehem working the bent portion 10 of the first plate-shaped work 8a, and is composed of a conical surface inclined at about 45 °, and the second pressing portion 40b is prehem working. The bent portion 10 is for main hemming and has a cylindrical surface.

Next, the operation of the hemming processing apparatus 20 configured as described above will be described. First, the position changing cylinder 44 moves the receiving roller 38 to a position directly facing the first pressing portion 40 a of the pressure roller 40, and the peripheral edge of the work 8 held at the tip of the robot arm 26 is rotated by the receiving roller 38. The pressure roller 40 is positioned between the first pressure unit 40a and the pressure roller 40. Next, the pressure roller 52 is pressed by the pressure cylinder 52.
0 is lowered and the first pressing portion 40a is pressed against the bent portion 10, and the bent portion 10 is bent inward at about 45 ° as shown in FIGS. 2 (B) to 4 (A). After that, FIG. 2 (B)
Robot arm 2 of robot 22 while maintaining the state of
6, the wrist portion 28 and the chuck member 34 are respectively controlled to expand, contract, swing, and revolve, so that the bent portion 10 on the peripheral portion of the work 8 is received by the receiving roller 38 and the first pressing portion 40a of the rolling roller 40. Continuously feed during. Then, the pre-hem processing is completed when the work 8 has rotated once.

Next, the pressure roller 52 is temporarily raised by the pressure cylinder 52 as shown in FIG. 3A, and the receiving roller 38 is moved leftward by the position changing cylinder 44 as shown in FIG. 3B. The receiving roller 38 is directly opposed to the second pressure applying portion 40b of the pressure roller 40. Then, the robot 22 is operated to receive the peripheral portion of the work 8 and the roller 38 and the pressure roller 4
0 between the second pressure section 40b and the pressure cylinder 52 to lower the pressure roller 40, and the pre-hem-processed inclined bent section 18 is moved to the position shown in FIGS. 3 (B) to 4 (B). As described above, the second pressurizing unit 40b completely folds it in half and overlaps it on the peripheral edge of the second plate-shaped work 8b. While maintaining this state, the robot 22 is controlled in the same manner as in the prehem processing, and the inclined bending portion 18 is continuously fed between the receiving roller 38 and the second pressing portion 40b of the pressure roller 40. Then, the hem processing is completed when the work 8 makes one turn.

Although one embodiment of the present invention has been described above, the present invention is not limited to the above embodiment, and various modifications can be made. For example, in the above-described embodiment, the pressure roller 40
Although the pressure cylinder 52 is used to move up and down, it is sufficient that the receiving roller 38 and the pressure roller are moved closer to and away from each other. Therefore, the receiving roller 38 may be moved up and down. Further, in the above-mentioned embodiment, the position changing cylinder 44 is configured to move the receiving roller 38 left and right, but in short, the receiving roller 38 is selectively directly faced to the first or second pressing portion 40a, 40b of the pressure roller 40. Since it is sufficient that the pressure roller 40 can be moved, the roller 40 can be moved left and right. When the receiving roller 38 is fixed and the pressure roller 40 is moved left and right in this way, pre-hem processing and main hem processing are performed at a fixed position on the receiving roller 38. Therefore, when the pre-hem processing changes to the main hem processing. There is no need to adjust the work position. Further, the position changing cylinder 44 or the pressurizing cylinder 52 can be configured by any driving means other than the cylinder, for example, a combination of a motor and a gear.

Further, the receiving roller 38 and the pressure roller 40 may be freely rotated, and may be forcedly rotated by a motor corresponding to the movement control of the work 8 by the robot. In this case, when the work 8 is moved, almost no load is applied to the robot, so that higher machining accuracy can be obtained.

Although the structure is a little complicated, in place of the pressure roller 40, a pre-hem pressure roller having a first pressure portion (first pressure roller) and a book having a second pressure portion are provided. It is also possible to perform hemming by using a hem pressure roller (second pressure roller) and selectively opposing these pressure rollers to the receiving roller 38. Further, instead of the receiving roller 38, a pre-hem receiving roller (first receiving roller) and a main hem receiving roller (second receiving roller) are separately arranged,
It is also possible to face these receiving rollers to the pre-hem pressure roller and the main-hem pressure roller to perform hemming.

[0023]

As described above, according to the present invention, since the hemming process is performed by the receiving roller and the rolling roller, the equipment cost is lower than the pressing method using the conventional pre-hem press machine and the conventional hem press machine. The production period of equipment can be short. Moreover, it can be easily used for hemming of workpieces with different shapes by simply changing the control of the robot. Further, since the peripheral portion of the work held at the tip of the robot arm is sandwiched between the pressure roller and the pressure roller to perform hemming while rolling, a large rolling reaction force during hemming does not act on the robot arm. The problems of the conventional roller type hemming device, such as deterioration of processing accuracy and fluctuation of bending shape due to rattling of sliding parts and bearing parts of robot joints, do not occur.

In addition, the first roller for prehem is attached to one roller.
When the pressurizing unit and the second pressurizing unit for the main hem are formed, the structure is simple as compared with the case where separate rolling rollers are used, and the position changing drive means (position changing cylinder) changes the prehem from the prehem. The processing can be switched to this hem, and at this time, the position of the rolling roller with respect to the work in the rolling movement direction does not change, so that movement adjustment of the work by the robot is easy.

Further, when the pressure roller and the receiving roller are separately arranged for the prehem and the main hem, the position changing driving means becomes unnecessary, and since the position changing operation is unnecessary, the main hem is finished at the same time as the prehem processing. Processing can be started,
It can contribute to shortening the processing time.

Further, by forcibly rotating the pressure roller and / or the receiving roller, the load of the robot arm required to move the processing portion of the work can be reduced, and thereby the hemming processing accuracy can be further improved. be able to.

[Brief description of drawings]

FIG. 1 is a side view of a hemming processing apparatus according to the present invention.

FIG. 2A is a side view of the roller unit before the start of prehem processing. (B) is a side view of the roller unit during prehem processing.

FIG. 3A is a side view of the roller unit before the start of the hemming process. FIG. 6B is a side view of the roller unit during the main hemming process.

FIG. 4A is a cross-sectional view of a peripheral portion of a prehem-processed work. (B) is a cross-sectional view of the peripheral portion of the work that has been fully hemmed.

FIG. 5A is a side view of a conventional prehem machine. (B) is a side view of the conventional heme machine.

[Explanation of symbols]

 8 work 8a 1st plate-shaped work 8b 2nd plate-shaped work 10 bending part 18 inclined bending part 20 hemming processing device 22 robot 24 roller unit 26 robot arm 32 clamp arm 34 chuck member 36 support base 38 receiving roller 40 rolling pressure Roller 40a 1st pressurization part 40b 2nd pressurization part 44 Position change cylinder (position change drive means) 52 Pressurization cylinder (pressurization drive means)

Claims (4)

[Claims] 1. A first plate-shaped work having a bent portion formed at a substantially right angle along a peripheral edge thereof, and a second plate-shaped work which is superposed on the first plate-shaped work inside the bent portion. A robot that holds the robot arm at the tip of the robot arm, a receiving roller that supports the outer peripheral surface of the peripheral edge of the first plate-shaped workpiece, and a slope that is inclined inward by rolling the bent portion of the first sheet metal workpiece. A rolling roller having a first pressing portion that forms a bent portion, and a second pressing portion that rolls the inclined bent portion and overlaps the peripheral portion of the second plate-shaped work, and the receiving roller. And a pressure driving means for moving the pressure roller and the pressure roller relatively closer to and away from each other, and the receiving roller so that the receiving roller selectively faces the first pressing portion or the second pressing portion. Hemming process having a position changing drive means for moving the roller or the compaction roller. Apparatus. 2. The rolling roller is composed of a first rolling roller having the first pressing portion and a second rolling roller having the second pressing portion. Claim 1
The hemming processing device described. 3. A robot according to claim 1, and a first pressure part for rolling the bent part of the first sheet metal work according to claim 1 to form an inclined bent part inclined inward. A first compaction roller, a second compaction roller having a second pressure portion that compacts the inclined bent portion and overlaps the peripheral edge portion of the second plate-like work, and a first compaction roller of the first compaction roller. A first receiving roller facing the pressing portion; a second receiving roller facing the second pressing portion of the first pressure roller; the first and second roller rollers; A hemming device, comprising: a second receiving roller; and a pressure driving unit that moves the second receiving roller toward and away from each other. 4. The hemming apparatus according to claim 1, further comprising a rotation driving unit that forcibly rotates the receiving roller and / or the pressure roller.